CN107036619B - High-precision geographic information reconstruction method, device, vehicle decision-making system and server - Google Patents

Abstract

The invention discloses the geographical signal reconstruct method, apparatus of high-precision, Vehicle Decision Method system and servers, for solving the problems, such as how processing is reconstructed to high-precision geography information.The method of the present invention includes: the path data for receiving the planning path of Present navigation mission planning；Parse the path data, the property parameters of each waypoint described in the path data and mileage value corresponding with each property parameters are obtained and cache, the property parameters include crossing property parameters, number of lanes parameter, default at least one of adeditive attribute parameter and the longitude and latitude parameter of waypoint；Mileage value is the mileage of starting point of each waypoint apart from Present navigation task, and presetting adeditive attribute parameter includes at least one of crossing parameter, independent characteristic parameter and outlet parameter；A waypoint is successively taken out from caching from the off and carries out attributes match as current waypoint, and by current waypoint and previous waypoint, until all waypoints complete attributes match in caching.

Description

High-precision geographic information reconstruction method, device, vehicle decision-making system and server

technical field

The invention relates to the technical field of vehicle navigation, in particular to a high-precision geographic information reconstruction method, device, vehicle decision-making system and server.

Background technique

With the continuous increase of the number of automobiles, social problems such as vehicle driving safety, traffic congestion, and environmental pollution have become increasingly prominent. Since unmanned vehicles can replace ordinary vehicles, reduce the above-mentioned problems caused by human factors, and can replace ordinary vehicles to complete special industrial tasks, the development of unmanned vehicles has attracted more and more attention.

Although self-driving cars can use sensors (such as radar, lidar, cameras, etc.) to detect the surrounding conditions of the vehicle, the ability to perceive the entire space environment is still not enough. At present, the existing navigation maps generally match the GPS track position with errors obtained by the vehicle-mounted GPS receiver to the corresponding position on the road with errors in the traffic vector map, resulting in a final navigation error of about 2 meters. Navigation accuracy is still at road level. At the same time, its map information is not rich enough to meet the requirements of the highest level of unmanned driving for maps.

Therefore, for the highest level of unmanned driving, a lane-level high-precision map is essential. The high-precision map can not only provide centimeter-level positioning coordinates, but also accurately describe the shape of the road and the characteristics of the waypoints. and the surrounding environment of the road on which the vehicle is located. When map manufacturers make high-precision maps, they generally use special protocols (such as the ADASISv2 protocol) to encapsulate geographic information. The encapsulated geographic information cannot be directly provided to the decision-making system of the vehicle. The decision-making system needs to receive these packages. After the high-precision geographic information has been processed, it can only be used after information reconstruction.

Therefore, how to reconstruct high-precision geographic information has become an urgent problem to be solved by those skilled in the art.

Contents of the invention

The embodiment of the present invention provides a high-precision geographic information reconstruction method, device, vehicle decision-making system and server, which can reconstruct high-precision geographic information data at the lane level and provide it to the vehicle decision-making system, which can satisfy the highest level of unmanned Driving on map request.

In the first aspect, a method for reconstructing high-precision geographic information is provided, including:

receiving path data of a planned path planned by the current navigation task, the planned path is composed of consecutive waypoints, and the path data includes attribute parameters of each waypoint on the planned path;

Parse the route data, obtain and cache the attribute parameters of each waypoint in the route data and the mileage value corresponding to each attribute parameter, the attribute parameters include intersection attribute parameters, lane number parameters, and preset additional attributes At least one of the parameter and the longitude and latitude parameters of the waypoint; the mileage value is the mileage of each waypoint from the starting point of the current navigation task, and the preset additional attribute parameters include entry parameters, independent feature parameters and exit parameters at least one of;

Starting from the starting point, a waypoint is successively taken out from the cache as the current waypoint, and attribute matching is performed between the current waypoint and the previous waypoint until all waypoints in the cache complete the attribute matching, and the previous waypoint Point is the waypoint extracted from the previous one;

The attribute matching of the current waypoint and the previous waypoint specifically includes:

Determine according to the preset additional attribute parameter and/or the intersection attribute parameter in which the mileage value of the attribute parameters of each waypoint is equal to the mileage value of the current waypoint, and the intersection matching state of the previous waypoint The waypoint attribute of the current waypoint, the waypoint attribute includes an end point, an entry point, a special intersection, an on-way point, an exit point, an intersection interior point, a paired exit point, or an exit point candidate, and the intersection matches The state includes one of being outside an intersection, matching an intersection, matching a special stop intersection, and matching an exit;

Setting attribute parameters and intersection matching status of the current waypoint according to the waypoint attribute of the current waypoint;

The value of the number of lanes at the current waypoint is set according to the parameter of the number of lanes at the current waypoint.

In the second aspect, a device for reconstructing high-precision geographic information is provided, including:

The route data receiving module is used to receive the route data of the planned route planned by the current navigation task, the planned route is composed of continuous way points, and the route data includes attribute parameters of each way point on the planned route;

The parsing cache module is used to parse the path data, obtain and cache the attribute parameters of each waypoint in the path data and the mileage value corresponding to each attribute parameter, and the attribute parameters include intersection attribute parameters and the number of lanes Parameters, preset additional attribute parameters and at least one of the longitude and latitude parameters of the waypoints; the mileage value is the mileage of each waypoint from the starting point of the current navigation task, and the preset additional attribute parameters include entry parameters, independent At least one of characteristic parameters and exit parameters;

The attribute matching module is used to sequentially take out a waypoint from the cache as the current waypoint starting from the starting point, and perform attribute matching on the current waypoint and the previous waypoint until all the waypoints in the cache have completed the attributes Matching, the previous waypoint is the previous taken out waypoint;

The attribute matching module includes:

The waypoint attribute determination unit is configured to use the preset additional attribute parameter and/or the intersection attribute parameter whose mileage value is equal to the mileage value of the current waypoint among the attribute parameters of each waypoint, and the The intersection matching state of the previous waypoint determines the waypoint attributes of the current waypoint, and the waypoint attributes include end point, entrance, special intersection, waypoint, exit, interior point, paired exit or exit candidate One of the intersection matching status includes one of being outside the intersection, matching the intersection, matching the special stop intersection and matching the exit intersection;

An attribute parameter setting unit, configured to set the attribute parameter of the current waypoint and the intersection matching state according to the waypoint attribute of the current waypoint;

The number of lanes setting unit is configured to set the value of the number of lanes at the current waypoint according to the number of lanes at the current waypoint.

In a third aspect, a vehicle decision-making system is provided, including the above-mentioned device for reconstructing high-precision geographic information.

In a fourth aspect, a server is provided, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the above-mentioned high precision is achieved when the processor executes the computer program Steps of the geographic information reconstruction method.

In a fifth aspect, a computer-readable storage medium is provided, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for reconstructing high-precision geographic information are realized.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

In the embodiment of the present invention, after receiving the path data of the planned path planned by the current navigation task, the path data is analyzed, and the required information is extracted from the parsed data, including intersection attribute parameters, lane number parameters, preset additional Attribute parameters, latitude and longitude parameters of waypoints, and mileage values corresponding to each parameter, the preset additional attribute parameters include at least one of entry parameters, independent feature parameters, and exit parameters, and the current waypoint Perform attribute matching with the previous waypoint, determine the waypoint attribute and intersection matching status of the current waypoint, and set the lane number attribute of the current waypoint, so as to complete the attribute matching of the current waypoint. After the attribute matching of all waypoints is completed sequentially from the starting point of the planned path of the current navigation task, this geographical information reconstruction is completed. It can be seen that even if the high-precision map manufacturer adopts a unique protocol to encapsulate geographic information, the high-precision geographic information reconstruction method in the present invention can also unpack the path data provided by the current navigation task, and then use the unpacked path data The required geographic information is extracted from the data and reconstructed into lane-level high-precision geographic information data, which is provided to the vehicle's decision-making system to meet the requirements of the highest level of unmanned driving for maps.

Description of drawings

Figure 1 is a schematic diagram of the connection between a high-precision map navigator, a high-precision positioning device and a vehicle decision-making system;

Figure 2 is a schematic diagram of the handshake process between the high-precision map navigator and the vehicle decision-making system;

FIG. 3 is a schematic flow diagram of an embodiment of a method for reconstructing high-precision geographic information in an embodiment of the present invention;

FIG. 4 is a schematic flowchart of attribute matching between the current waypoint and the previous waypoint in step 303 of a method for reconstructing high-precision geographic information in an embodiment of the present invention;

Fig. 5 is a schematic diagram of a complex intersection in an application scenario;

Figure 6 is a schematic diagram of a U-Turn intersection in an application scenario;

FIG. 7 is a schematic diagram of a common intersection in an application scenario;

FIG. 8 is a schematic flow diagram of a high-precision geographic information reconstruction method in an application scenario in which the vehicle decision-making system receives path data from a high-precision navigator in an embodiment of the present invention;

FIG. 9 is a schematic flow diagram of detecting custom attribute parameters and setting attributes by a high-precision geographic information reconstruction method in an embodiment of the present invention;

FIG. 10 is a structural diagram of an embodiment of a high-precision geographic information reconstruction device in an embodiment of the present invention;

Fig. 11 is a schematic diagram of a server provided by an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a method and device for reconstructing high-precision geographic information, a vehicle decision-making system, and a server for solving the problem of how to reconstruct high-precision geographic information.

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1, a high-precision map navigator and a high-precision positioning device need to be installed on an unmanned vehicle. The high-precision map navigator and the vehicle decision-making system are connected through the CAN bus, and the high-precision positioning device and the vehicle decision-making system are connected through the UART connect.

In one application scenario, before the navigator sends navigation route data to the decision-making system, a handshake process is required between the navigator and the vehicle decision-making system. As shown in Figure 2, the unmanned vehicle is started, the high-precision map navigator and the high-precision positioning device are powered on and initialized, the decision-making system program is started, and a feasible path is planned on the navigator (the navigator adopts the ADASIS v2 protocol to determine the route) The results of the planning are encapsulated), and then the navigator and the decision-making system of the unmanned vehicle are confirmed by handshake, and the navigator sends the path data encapsulated with the ADASIS V2 protocol to the decision-making system of the unmanned vehicle. The distance to send ADAS Horizon data once can be configured according to requirements. At the same time, the decision-making system will regularly send high-precision positioning information to the navigator. This information can be displayed as a lane-level map. When the vehicle drives forward for a certain distance, when the decision-making system has received but has not yet passed ADAS Horizon data When the distance is less than 2 kilometers, the navigator will send additional follow-up path data encapsulated in the ADASIS V2 protocol until the vehicle reaches the end of the current navigation task. Whenever the route data sent by the high-precision navigator is received, the vehicle decision-making system will use the high-precision geographic information reconstruction method provided by the present invention to reconstruct high-precision geographic information in a specified format.

Table 1 below shows a format of the reconstructed geographical information in the embodiment of the present invention.

Table I

As shown in Table 1, serial numbers 1 and 2 represent two reconstructed geographical information respectively. Each piece of geographic information includes attribute parameters such as longitude, latitude, height, and attributes 1-9. Among them, attribute 1 represents the waypoint attribute of the waypoint, attribute 2 represents the intersection point attribute of the waypoint, attribute 3 represents the number of lanes of the waypoint, attributes 4 to 9 are self-defined attributes, and the specific attributes can be defined according to the needs .

Referring to Fig. 3, a method for reconstructing high-precision geographic information in an embodiment of the present invention includes:

301. Receive path data of a planned path planned by the current navigation task, where the planned path is composed of consecutive waypoints, and the path data includes attribute parameters of each waypoint on the planned path;

302. Analyze the route data, obtain and cache the attribute parameters of each waypoint in the route data and the mileage value corresponding to each attribute parameter, the attribute parameters include intersection attribute parameters, lane number parameters, preset At least one of the additional attribute parameters and the longitude and latitude parameters of the waypoints; the mileage value is the mileage of each waypoint from the starting point of the current navigation task, and the preset additional attribute parameters include entry parameters, independent feature parameters and exit parameters. at least one of the intersection parameters;

303. Starting from the starting point, one waypoint is sequentially taken out from the cache as the current waypoint, and attribute matching is performed on the current waypoint and the previous waypoint until all the waypoints in the cache complete attribute matching, the The previous waypoint is the waypoint taken out before.

For step 301, after the high-precision navigator has planned the route for the current navigation task, it can send the route data to the vehicle decision-making system, and the vehicle decision-making system receives the route data.

For step 302, since high-precision navigators generally use a unique protocol to encapsulate these route data, these route data cannot be directly used by the vehicle decision-making system. Therefore, after the vehicle decision-making system receives these route data, it can first analyze these route data and obtain Related parameters, and put into the cache.

In this embodiment, the mileage value is a value attached to each parameter in the route data, which is used to represent the mileage of each parameter on the route from the starting point. Therefore, it can be understood that, for the same planned route (i.e., navigation route), when the mileage values of the two parameters are the same, it means that the mileage lengths between the positions of the two parameters and the starting point of the planned route are the same, so It can be determined that these two parameters are at the same position on the planned path.

The above-mentioned preset additional attribute parameters may include one, two or more of the entry parameters, independent feature parameters and exit parameters, as well as exit candidate points, independent zebra crossings, starting point after lane change, Whether to end before changing lanes, the number of the current lane, the attribute of the current lane to allow lane change, the width of the lane, etc. Wherein, the independent characteristic parameters may include non-intersection traffic lights and/or independent stop lines.

For step 302, in an application scenario, as shown in Figure 8, after the high-precision navigator successfully shakes hands with the vehicle decision-making system, the high-precision navigator uses the ADASIS v2 protocol to encapsulate the path data, and the vehicle decision-making system accepts the CAN bus The message obtains ADAS Horizon data, which can be divided into STUB messages, SEGMENT messages, PROFILE SHORT messages and PROFILE LONG messages, which are sent to the vehicle decision-making system. The vehicle decision-making system receives the STUB message, parses out its offset attribute (equivalent to the mileage value, the same below) and intersection attribute parameters, and puts them into the buffer area; receives the SEGMENT message, parses out its offset attribute and lane number parameters, and puts them in Buffer area; receive PROFILE SHORT message, analyze its offset attribute and various preset additional attribute parameters, and put it into the buffer area; receive PROFILE LONG message, parse the longitude and latitude parameters of the waypoint and its offset attribute, and put it into the buffer area. After receiving these messages, the geographical information of these messages is reconstructed until the end of the navigation task is reached.

It should be noted that the frame loss detection parameter cycn is set in the ADASIS data sent by the navigator, and the cycn is counted in cycles of 0, 1, 2, and 3. Therefore, the receiving end (that is, the vehicle decision-making system) can judge whether to Data frame loss occurs. When the decision-making system of the driverless car detects that the received ADASIS data frame is lost, the decision-making system discards the received data and sends a resend request to the navigator, and the navigator resends the sent ADASIS data (including STUB , SEGMENT, PROFILE SHORT, and PROFILE LONG data).

For step 303, the previous waypoint refers to the previously retrieved waypoint relative to the current waypoint. In this embodiment, the reconstruction of geographic information is accomplished by sequentially performing attribute matching on each waypoint on the planned route of the current navigation task plan, and when matching attributes, the current waypoint needs to be compared and referred to where the previous waypoint is located. status. It can be understood that, for the first waypoint in the route data, generally speaking, it is the starting point, and its attribute matching can be set in a default manner.

In step 303, as shown in FIG. 4 , performing attribute matching on the current waypoint and the previous waypoint may specifically include:

401. According to the preset additional attribute parameters and/or the intersection attribute parameters in which the mileage value of the attribute parameters of each waypoint is equal to the mileage value of the current waypoint, and the intersection matching of the previous waypoint The state determines the waypoint attribute of the current waypoint, and the waypoint attribute includes one of an end point, an entry point, a special intersection, a point on the way, an exit point, an interior point of an intersection, a paired exit point, or a candidate point for an exit point. The intersection matching status includes one of being outside the intersection, matching the intersection, matching the special stop intersection and matching the exit intersection;

402. Set attribute parameters and intersection matching status of the current waypoint according to the waypoint attributes of the current waypoint;

403. Set the value of the number of lanes at the current waypoint according to the parameter of the number of lanes at the current waypoint.

For the above steps 401-403, it should first be explained that in the navigation planning of the high-precision navigator, the state of the "intersection" has important reference value and significance for the driving of the vehicle. The intersection mentioned here is not the road intersection referred to in daily life, but refers to the road section that needs to be responded and processed when the vehicle is driving on the lane. As shown in Figure 5, Figure 6 and Figure 7, Figure 5 shows a complex intersection, the line segment with the arrow in Figure 5 is the direction and lane of the vehicle, when the vehicle passes the intersection, it needs to enter the intersection Enter the intersection at the point and leave the intersection at the exit point of the intersection. Figure 6 shows a U-Turn intersection, also known as a "turn around" intersection, when a vehicle passes through the U-Turn intersection, it also enters the intersection from the intersection entry point, and then leaves the intersection from the intersection exit point. Fig. 7 shows a common intersection, also known as a three-fork intersection, when a vehicle passes through the common intersection, it also enters the intersection from the intersection entry point, and then leaves the intersection from the intersection exit point. It can be seen that for the definition of intersection in this embodiment, when a vehicle passes through an intersection, it enters the intersection from the intersection entry point, and then leaves the intersection from the intersection exit point. Therefore, in the process of navigation, it is very important for the navigation of the vehicle to determine what state the vehicle is currently at at the intersection. In this embodiment, the intersection matching state is used to represent the state of the intersection that the vehicle is currently in. The intersection matching state includes being outside the intersection, matching the intersection, matching the special stop intersection, or matching the exit intersection. Among them, the matched special stop intersection refers to the matched non-intersection traffic lights or independent stop lines.

In this embodiment, further, the above step 401 may specifically include the following steps A-E:

A. When the intersection matching state of the current road point is outside the intersection: if the mileage value of the current road point satisfies the preset mileage condition, then determine that the current road point is the end point; if there is a corresponding mileage value and the current road point If the mileage value of the point is equal to the entry parameter, and the intersection attribute parameter is found within the preset mileage offset range of the entry parameter with the same mileage value, then it is determined that the current waypoint is an entry; if there is a corresponding mileage If the value is equal to the independent characteristic parameter of the mileage value of the current waypoint, then it is determined that the current waypoint is a special intersection; otherwise, it is determined that the current waypoint is a waypoint;

B. When the intersection matching state of the current road point is the matched intersection: if the mileage value of the current way point satisfies the preset mileage condition, it is determined that the current way point is the end point; if there is a corresponding mileage value and the current If the mileage value of the waypoint is equal to the exit parameter, then it is determined that the current waypoint is an exit; otherwise, it is determined that the current waypoint is an intersection interior point;

C. When the intersection matching state of the current road point is matched with a special stop intersection: if the mileage value of the current way point satisfies the preset mileage condition, it is determined that the current way point is the end point; if there is a corresponding mileage value and the If there is an intersection parameter whose mileage value is equal to the current waypoint, then determine that the current waypoint is an intersection interior point; if there is an intersection parameter whose corresponding mileage value is equal to the mileage value of the current waypoint, then determine the point is an exit; otherwise, it is determined that the current waypoint is a paired exit;

D. When the intersection matching state of the current road point is the matched exit: if the mileage value of the current way point is equal to the mileage value of the previous road point, then determine that the current way point is an exit candidate point; if the If the mileage value of the current waypoint is not equal to the mileage value of the previous waypoint, jump to the step when the intersection matching state of the current waypoint is outside the intersection.

It should be noted that, in the above steps A~C, the above-mentioned word "conversely" means: in this step, when all the aforementioned conditions in the step are not satisfied, the steps after the word "conversely" are executed . Specifically, for example, in the above step A, the precondition for executing step A is "the intersection matching state of the previous road point is outside the intersection", and only when this precondition is met, step A can be executed. Assuming that the condition (hereinafter referred to as condition A1) of "the intersection matching state of the previous road point is outside the intersection" has been met, when step A is executed, it is first judged whether the condition A1 is satisfied, if satisfied, then it is determined that the current waypoint is End point, at this point, step A is executed; only when condition A1 is not satisfied, then judge whether to meet "there is an entry parameter whose corresponding mileage value is equal to the mileage value of the current waypoint, and at the point where the mileage value is equal Find the condition "crossing attribute parameter" (hereinafter referred to as condition A2) within the preset mileage offset range of the entrance parameter, if satisfied, then determine that the current waypoint is the entrance. Similarly, because the current waypoint has been determined waypoint attribute, then step A is completed; similarly, only when neither condition A1 nor condition A2 is satisfied, then it is judged whether it is satisfied that "there is an independent feature whose corresponding mileage value is equal to the mileage value of the current waypoint parameter" (hereinafter referred to as condition A3), if it is satisfied, then it is determined that the current waypoint is a special intersection, and step A is executed. If above-mentioned condition A1, condition A2 and condition A3 all do not meet, at this moment then think to meet the condition of " opposite " in the step A, namely under the situation that all do not satisfy condition A1, condition A2 and condition A3, determine all Describe the current waypoint as the waypoint. In the same way, it can be seen that the conditional judgment and the determination of the waypoint attributes in the above steps B, C and D are similar to the expression of the above step A. In the steps B and C, the applicability and satisfaction of the word "conversely" It is similar to step A and will not be repeated here.

Wherein, for the above steps A-D, the "preset mileage condition" can be set according to the specific situation of the mileage value sent by the navigator. For example, in a navigator using the ADASIS v2 protocol, the non-destination mileage value in the route data sent by it is generally set within the range of [0,8190]. If the mileage value of a certain waypoint in the navigator is received If it is greater than this range, for example, if the mileage value is equal to 8191, then it can be considered that the mileage value of the waypoint satisfies the preset mileage condition, and the waypoint is determined as the end point. There is no limitation to the preset mileage condition in this embodiment.

For step 402, in this embodiment, further, the above step 401 may specifically include the following steps (1)-(8):

(1) If the current waypoint is the end point, the waypoint attribute of the current waypoint is set as the end point, the intersection point attribute is set as no attribute, and the intersection matching state is set as being outside the intersection;

(2) If the current waypoint is an intersection, then the waypoint attribute of the current waypoint is set as an intersection, the intersection point attribute is set as the intersection attribute of the intersection attribute parameter found, and the intersection matching state is set is the matched entry point;

(3) If the current waypoint is a special intersection, then the waypoint attribute of the current waypoint is set as an intersection, the attribute of the intersection point is set as a straight line at the intersection, and the matching state of the intersection is set as a matched special stop intersection;

(4) If the current waypoint is a waypoint, then the waypoint attribute of the current waypoint is set as a waypoint, the intersection point attribute is set as no attribute, and the intersection matching state is set as being outside the intersection;

(5) If the current waypoint is an exit, then the waypoint attribute of the current waypoint is set as an exit, the intersection point attribute is set as no attribute, and the matching state of the intersection is set as a matched exit;

(6) If the current waypoint is an intersection interior point, then the roadpoint attribute of the current waypoint is set as an intersection interior point, the intersection point attribute is set as no attribute, and the intersection matching state is set as a matched entrance;

(7) If the current waypoint is a matching exit, then the waypoint attribute of the current waypoint is set as an exit, the intersection point attribute is set as no attribute, and the matching state of the intersection is set as a matched exit;

(8) If the current waypoint is a candidate exit point, store the latitude and longitude parameters of the current waypoint into the latitude and longitude array of candidate points of the previous exit, and add the points of the candidate points of the previous exit to 1; determine whether the number of candidate points at the previous exit is greater than or equal to the number of lanes at the previous exit minus 1, if so, set the intersection matching state of the current waypoint to be outside the intersection, if not , then set the intersection matching state of the current waypoint as the matched exit intersection.

For the above steps 401-403, for ease of understanding, the content in steps 401-403 will be described in detail below using a practical application scenario.

In this application scenario, for the convenience of description and understanding, the following explanations are made: path data includes STUB messages, SEGMENT messages, PROFILE SHORT messages, and PROFILE LONG messages. For these messages, the above content has related descriptions and will not be repeated here. The offset attribute represents the mileage value. The matching flag MatchFlag indicates the matching state of the intersection, wherein, MatchFlag=0 means that it is outside the intersection; MatchFlag=1 means that the intersection has been matched; MatchFlag=2 means that the special stop intersection has been matched; MatchFlag=3 means that the intersection has been matched. Attribute 1 represents the waypoint attribute of the waypoint, attribute 2 represents the intersection point attribute of the waypoint, and attribute 3 represents the number of lanes of the waypoint. Among them, the value of attribute 1 is equal to 1 to indicate the end point; equal to 2 to indicate the point on the road; equal to 3 to indicate the intersection; equal to 4 to indicate the inner point of the intersection; equal to 5 to indicate the exit. If the value of attribute 2 is equal to 0, it means no attribute; if it is equal to 1, it means go straight at the intersection.

In this application scenario, after the vehicle decision-making system receives STUB messages, SEGMENT messages, PROFILE SHORT messages, and PROFILE LONG messages, the geographic information reconstruction includes the following steps:

Step 1. If the matching flag MatchFlag of the previous point is equal to 0:

1. judge whether the current waypoint is an end point, if so, then set the value of attribute 1 of the current waypoint to 1, and set the value of its attribute 2 to 0, and set the matching flag MatchFlag of the current waypoint to be 0.

II. If I does not match, compare the offset attribute of the current waypoint with the offset attribute of the received PROFILE SHORT entry, if it is equal to the offset of a certain PROFILE SHORT entry, and find STUB within the set offset offset range , which means that the current waypoint is an intersection, then set the value of attribute 1 of the current waypoint to 3, and set its attribute 2 equal to the intersection attribute of the corresponding STUB. Set the matching flag MatchFlag of the current waypoint to 1.

III. If I and II do not match, compare the offset attribute with the offset attribute of the received PROFILE SHORT non-intersection traffic lights, independent stop lines, and independent zebra crossings. If they are equal, it means that the current waypoint is a special intersection, then set The value of attribute 1 of the current waypoint is 3, and the value of attribute 2 is set to 1, and the matching flag MatchFlag of the current waypoint is set to 2.

IV. If I, II and III do not match, it means that the current waypoint is an ordinary waypoint, and set the value of attribute 1 of the current waypoint to 2, set the value of attribute 2 to 0, and set the value of the current waypoint The matching flag MatchFlag is 0.

Step 2. If the matching flag MatchFlag of the previous point is equal to 1:

I. Determine whether the current waypoint is an end point, if so, set the value of attribute 1 of the current waypoint to 1, and set the value of attribute 2 of the current waypoint to 0. Set the matching flag MatchFlag of the current waypoint to 0.

II. If I does not match, compare the offset attribute of the current waypoint with the offset attribute of the received PROFILE SHORT exit, if it is equal to the offset of a certain PROFILE SHORT exit, it means that the current waypoint is an exit, then set The value of attribute 1 of the current waypoint is 5, and the value of attribute 2 is set to 0. Set the matching flag MatchFlag of the current waypoint to 3.

III. If I and II do not match, the current waypoint is considered to be an intersection interior point, then set the value of attribute 1 of the current waypoint to 4, and set the value of attribute 2 to 0. Set the matching flag MatchFlag of the current waypoint to 1.

Step 3. If the matching flag MatchFlag of the previous road point is equal to 2:

I. Determine whether the current waypoint is an end point, if so, set the value of attribute 1 of the current waypoint to 1, and set the value of attribute 2 of the current waypoint to 0. Set the matching flag MatchFlag of the current waypoint to 0.

II. If I does not match, then compare the offset attribute of the current waypoint with the offset attribute of the received PROFILE SHORT entry, if it is equal to the offset of a certain PROFILE SHORT entry, it indicates that there is a new entry in the current waypoint intersection. But by the matching flag MatchFlag=2 of the previous road point, it can be seen that there is an independent feature (such as: non-intersection traffic lights, independent stop lines, independent zebra crossings, etc.) before, which is equivalent to existing an entrance before the current road point, so no need Then set the intersection for the current waypoint, then the current waypoint is considered as the interior point of the intersection, then set the value of attribute 1 of the current waypoint to 4, and set the value of attribute 2 to 0. Set the matching flag MatchFlag of the current waypoint to 1.

III. If I and II do not match, then compare the offset attribute of the current waypoint with the offset attribute of the received PROFILE SHORT exit, if it is equal to the offset of a certain PROFILE SHORT exit, it means that the current waypoint is an exit intersection, set the value of attribute 1 of the current waypoint to 5, and set the value of attribute 2 to 0. Set the matching flag MatchFlag of the current waypoint to 3.

IV. If I, II and III do not match, then determine the current waypoint as the paired exit intersection of the previous independent features (non-intersection traffic lights, independent stop lines, independent zebra crossings, etc.), then set the value of attribute 1 of the current waypoint 5, and set the value of its attribute 2 to 0. Set the matching flag MatchFlag of the current waypoint to 3.

Step 4. If the matching flag MatchFlag of the previous way point is equal to 3:

I. Compare the offset attribute of the current waypoint with the offset attribute of the previous waypoint. If they are equal, it means that the current waypoint is the candidate exit point of the previous waypoint. Store the longitude and latitude of the current waypoint into the previous exit respectively. The longitude and latitude array of the candidate point of the intersection, and the point of the candidate point of the previous exit is increased by 1. When the number of candidate points of the previous exit is greater than or equal to the number of lanes of the previous exit -1, it indicates that the current waypoint is the last candidate point of the previous exit. Therefore, the matching flag MatchFlag of the current waypoint is set as 0, otherwise set the matching flag MatchFlag of the current waypoint to 3.

II. If I does not meet, it is considered that the matching flag MatchFlag of the previous way point is 0, jump and perform step one.

Step five, compare the offset attribute of the current waypoint with the offset attribute of the currently received SEGMENT message, find the lane number parameter of the SEGMENT message whose offset attribute is equal to the offset attribute of the current waypoint, and set the attribute of the current waypoint 3 is set to the number of lanes found for this number of lanes parameter.

Step 6: Determine the current waypoint to complete attribute matching.

After the above steps 1 to 6, you can determine the intersection matching status of the current waypoint, and set the corresponding attributes for the current waypoint, and then get the next waypoint as the current waypoint, then the original current waypoint becomes the previous road point. Since the intersection matching state (that is, the value of MatchFlag) of the original current waypoint is already known, it can be used as a basis for attribute matching of the new current waypoint. It can be seen that by repeatedly performing the above steps 1 to 6, attribute matching of all waypoints on the received planned route can be completed, thereby realizing the reconstruction of geographical information.

It should be noted that, for the judgment of whether the current waypoint is the end point in the above steps 1 to 6, the offset attribute indicates the offset of the ADASIS data sent by the navigator from the starting point, and the offset of the waypoint of the non-end point data is 0~8190 , when the offset of the received waypoint is 8191, the waypoint can be considered as the end point.

Further, in this embodiment, as shown in FIG. 9 , before it is determined that the attribute matching of the current waypoint is completed, it may also include

901. Detect whether the mileage value corresponding to each of the custom attribute parameters is equal to the mileage value of the current waypoint, if yes, execute step 902, and if not, continue detection;

902. Set the custom attribute of the current waypoint as the detected custom attribute of the custom attribute parameter.

For the above steps 901 and 902, the preset additional attribute parameters may include custom attribute parameters. Before determining that the current waypoint completes attribute matching, it can be detected whether the mileage value corresponding to each of the custom attribute parameters is equal to the mileage value of the current waypoint, if so, it indicates that the detected custom attribute parameter is the current waypoint custom properties for . Therefore, step 902 is executed to set the custom attribute of the current waypoint.

Wherein, the above step 902 may include: if it is detected that the mileage value of the road speed limit parameter is equal to the mileage value of the current waypoint, then setting the speed limit attribute of the current waypoint as the detected road The speed limit value of the speed limit parameter; if it is detected that the mileage value of the lane width parameter is equal to the mileage value of the current waypoint, then the lane width attribute of the current waypoint is set as the detected lane width The width value of the parameter.

Specifically, the custom attribute parameter may also include attribute information such as lane change allowed, lane number, whether to end before lane change, etc., which can be set according to needs in practical applications, and are not limited here.

As can be seen from the above, a high-precision geographic information reconstruction method in this embodiment can apply high-precision positioning and high-precision map technology to unmanned vehicles, improve the navigation accuracy to cm level, and use it on a large number of maps Extract and reconstruct the required high-precision geographic information from the information, and provide reliable navigation information for the unmanned driving of unmanned vehicles.

A method for reconstructing high-precision geographic information is mainly described above, and a device for reconstructing high-precision geographic information will be described in detail below.

Fig. 10 shows a structural diagram of an embodiment of a device for reconstructing high-precision geographic information in an embodiment of the present invention.

In this embodiment, a high-precision geographic information reconstruction device includes:

The route data receiving module 101 is used to receive the route data of the planned route planned by the current navigation task, the planned route is composed of consecutive way points, and the route data includes attribute parameters of each way point on the planned route;

The parsing cache module 102 is used to parse the path data, obtain and cache the attribute parameters of each waypoint in the path data and the mileage value corresponding to each attribute parameter, the attribute parameters include intersection attribute parameters, lanes At least one of the number parameter, the preset additional attribute parameter and the latitude and longitude parameter of the waypoint; the mileage value is the mileage of each waypoint from the starting point of the current navigation task, and the preset additional attribute parameter includes an entry parameter, At least one of the independent feature parameter and the exit parameter;

The attribute matching module 103 is used to sequentially take out a waypoint from the cache as the current waypoint from the starting point, and perform attribute matching on the current waypoint and the previous waypoint until all the waypoints in the cache are completed Attribute matching, the previous waypoint is the previous taken out waypoint;

The attribute matching module 103 includes:

The waypoint attribute determination unit 1031 is configured to use the preset additional attribute parameter and/or the intersection attribute parameter whose mileage value is equal to the mileage value of the current waypoint among the attribute parameters of each waypoint, and the The intersection matching state of the previous road point determines the road point attribute of the current way point, and the road point attribute includes an end point, an entry point, a special intersection, a point on the road, an exit point, an interior point at an intersection, a paired exit point, or a candidate for an exit point One of the points, the intersection matching state includes one of being outside the intersection, matching the intersection, matching the special stop intersection and matching the exit intersection;

An attribute parameter setting unit 1032, configured to set the attribute parameter and intersection matching state of the current waypoint according to the waypoint attribute of the current waypoint;

The lane number setting unit 1033 is configured to set the value of the lane number of the current waypoint according to the lane number parameter of the current waypoint.

Further, the waypoint attribute determining unit may include:

The first determining subunit is used when the intersection matching state of the current waypoint is outside the intersection: if the mileage value of the current waypoint satisfies the preset mileage condition, then determine that the current waypoint is the end point; if there is a corresponding mileage If the value of the entry parameter is equal to the mileage value of the current waypoint, and the intersection attribute parameter is found within the preset mileage offset range of the entry parameter with the same mileage value, then it is determined that the current waypoint is an entry point. intersection; if there is an independent characteristic parameter whose corresponding mileage value is equal to the mileage value of the current waypoint, then determine that the current waypoint is a special intersection; otherwise, determine that the current waypoint is a waypoint;

The second determining subunit is used when the intersection matching state of the current road point is a matched intersection: if the mileage value of the current way point satisfies the preset mileage condition, then determine that the current way point is the end point; if there is a corresponding The intersection parameter whose mileage value is equal to the mileage value of the current waypoint determines that the current waypoint is an intersection; otherwise, determines that the current waypoint is an intersection interior point;

The third determining subunit is used when the intersection matching state of the current road point is a matched special stop intersection: if the mileage value of the current way point meets the preset mileage condition, then determine that the current way point is the end point; if there is If the corresponding mileage value is equal to the entry parameter of the mileage value of the current waypoint, then the current waypoint is determined to be an intersection interior point; if there is an exit parameter whose corresponding mileage value is equal to the mileage value of the current waypoint, Then determine that the current waypoint is an exit; otherwise, determine that the current waypoint is a matching exit;

The fourth determining subunit is used when the intersection matching state of the current road point is a matched exit: if the mileage value of the current way point is equal to the mileage value of the previous road point, then determine that the current way point is an exit Alternate point: if the mileage value of the current waypoint is not equal to the mileage value of the previous waypoint, jump to the step when the intersection matching state of the current waypoint is outside the intersection.

Further, the attribute parameter setting unit may include:

The first setting subunit is used to set the waypoint attribute of the current waypoint as the end point, set the intersection point attribute as no attribute, and set the intersection matching state as being outside the intersection if the current waypoint is the end point;

The second setting subunit is used to set the waypoint attribute of the current waypoint as an intersection if the current waypoint is an intersection, and set the intersection point attribute as the intersection attribute of the found intersection attribute parameter , and the intersection matching state is set to the matched entry intersection;

The third setting subunit is used to set the waypoint attribute of the current waypoint as an intersection, the intersection point attribute as straight ahead at the intersection, and the matching state of the intersection as matched special if the current waypoint is a special intersection. stop intersection;

The fourth setting subunit is used to set the waypoint attribute of the current waypoint as a waypoint if the current waypoint is a waypoint, set the intersection point attribute as no attribute, and set the intersection matching state as being outside the intersection if the current waypoint is a waypoint ;

The fifth setting subunit is used to set the waypoint attribute of the current waypoint as an exit if the current waypoint is an exit, set the intersection point attribute as no attribute, and set the matching state of the intersection as matched exit. intersection;

The sixth setting subunit is used to set the waypoint attribute of the current waypoint as an intersection interior point, the intersection point attribute as no attribute, and the intersection matching state as enabled if the current waypoint is an intersection interior point. Match entry;

The seventh setting subunit is used to set the waypoint attribute of the current waypoint as an exit, the intersection point attribute as no attribute, and the intersection matching state as matched if the current waypoint is a paired exit. Exit;

The eighth setting subunit is used to store the latitude and longitude parameters of the current waypoint into the latitude and longitude array of candidate points of the previous exit if the current waypoint is a candidate exit point, and the previous exit Add 1 to the candidate points of the previous intersection; judge whether the candidate points of the previous exit are greater than or equal to the number of lanes of the previous exit minus 1, if so, set the intersection matching state of the current waypoint to be in Outside the intersection, if not, set the intersection matching status of the current waypoint as the matched exit intersection.

Further, the preset additional attribute parameters may also include custom attribute parameters;

The high-precision geographic information reconstruction device may also include:

A parameter detection module, configured to detect whether the mileage value corresponding to each of the custom attribute parameters is equal to the mileage value of the current waypoint;

The custom attribute setting module is used to set the custom attribute of the current waypoint as the detected Custom attributes for custom attribute parameters.

Further, the custom attribute parameters include at least one of road speed limit parameters and lane width parameters, and the custom attribute setting module may include:

The first attribute setting unit is configured to set the speed limit attribute of the current waypoint as the detected road if it is detected that the mileage value of the road speed limit parameter is equal to the mileage value of the current waypoint The speed limit value of the speed limit parameter;

The second attribute setting unit is configured to set the lane width attribute of the current waypoint as the detected lane width if it is detected that the mileage value of the lane width parameter is equal to the mileage value of the current waypoint The width value of the parameter.

An embodiment of the present invention also provides a vehicle decision-making system, which includes any high-precision geographic information reconstruction device described in the embodiment corresponding to FIG. 10 .

Fig. 11 is a schematic diagram of a server provided by an embodiment of the present invention. As shown in Figure 11, the server 11 of this embodiment includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and operable on the processor 110, such as high-precision geographic information reconstruction program. When the processor 110 executes the computer program 112 , the steps in the above-mentioned embodiments of the high-precision geographic information reconstruction method are implemented, such as steps 301 to 303 shown in FIG. 3 . Alternatively, when the processor 110 executes the computer program 112, functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 101 to 103 shown in FIG. 10 , are realized.

Exemplarily, the computer program 112 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 111 and executed by the processor 110 to complete this invention. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 112 in the server 11 .

The server 11 may be a computing device such as a local server or a cloud server. The server may include, but not limited to, a processor 110 and a memory 111 . Those skilled in the art can understand that FIG. 11 is only an example of the server 11, and does not constitute a limitation to the server 11. It may include more or less components than those shown in the illustration, or combine certain components, or different components, such as The server may also include input and output devices, network access devices, buses, and the like.

The processor 110 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 111 may be an internal storage unit of the server 11 , such as a hard disk or memory of the server 11 . The memory 111 may also be an external storage device of the server 11, such as a plug-in hard disk equipped on the server 11, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card (Flash Card), etc. Further, the storage 111 may also include both an internal storage unit of the server 11 and an external storage device. The memory 111 is used to store the computer program and other programs and data required by the server. The memory 111 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media that can store program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present invention.

Claims (12)

1. a kind of high-precision geography signal reconstruct method characterized by comprising

The path data of the planning path of Present navigation mission planning is received, the planning path is by continuous each waypoint group At the path data includes the property parameters of each waypoint in the planning path；

Parse the path data, obtain and cache the property parameters of each waypoint described in the path data and with it is each The corresponding mileage value of property parameters, the property parameters include crossing property parameters, number of lanes parameter, default adeditive attribute ginseng Several and waypoint at least one of longitude and latitude parameter；The mileage value is each waypoint rising apart from the Present navigation task Point mileage, the default adeditive attribute parameter include in crossing parameter, independent characteristic parameter and outlet parameter at least One；

Since the starting point successively from caching take out a waypoint as current waypoint, and by the current waypoint with it is previous Waypoint carries out attributes match, until all waypoints complete attributes match in the caching, the previous waypoint is previous takes Waypoint out；

The current waypoint is carried out attributes match with previous waypoint to specifically include:

It is preset according to described equal with the mileage value of the current waypoint of mileage value in the property parameters of each waypoint attached Additive attribute parameter and/or the crossing property parameters and the crossing matching status of the previous waypoint determine the current road The waypoint attribute of point, the waypoint attribute include terminal, enter crossing, special intersection, road point, outlet, point, pairing in crossing One in outlet or outlet candidate point, the crossing matching status includes outside the crossing, has fitted into crossing, With special stopping crossing and one in outlet is matched；

The property parameters and crossing matching status of the current waypoint are set according to the waypoint attribute of the current waypoint；

According to the value of the number of lanes of current waypoint described in the number of lanes parameter setting of the current waypoint.

2. high-precision geography signal reconstruct method according to claim 1, which is characterized in that described according to each road The mileage value default adeditive attribute parameter equal with the mileage value of the current waypoint and/or described in the property parameters of point Crossing property parameters and the crossing matching status of the previous waypoint determine that the waypoint attribute of the current waypoint includes:

When the crossing matching status of a current waypoint is outside crossing: if the mileage value of the current waypoint meets default mileage Condition, it is determined that the current waypoint is terminal；Correspond to if it exists mileage value with the mileage value of the current waypoint is equal enters Crossing parameter, and attribute ginseng in crossing is found in the equal default mileage deviation range for entering crossing parameter of the mileage value Number, it is determined that the current waypoint is into crossing；Only equal with the mileage value of the current waypoint of mileage value is corresponded to if it exists Vertical characteristic parameter, it is determined that the current waypoint is special intersection；It is on the contrary, it is determined that the current waypoint is road point；

The crossing matching status of a current waypoint is when having fitted into crossing: if in the mileage value satisfaction of the current waypoint is default Journey condition, it is determined that the current waypoint is terminal；It is equal with the mileage value of the current waypoint that mileage value is corresponded to if it exists Outlet parameter, it is determined that the current waypoint is outlet；It is on the contrary, it is determined that the current waypoint is point in crossing；

The crossing matching status of a current waypoint is when having matched special stopping crossing: if the mileage value of the current waypoint meets Default mileage condition, it is determined that the current waypoint is terminal；The mileage value of mileage value Yu the current waypoint is corresponded to if it exists Equal enters crossing parameter, it is determined that the current waypoint is point in crossing；Mileage value and the current waypoint are corresponded to if it exists The equal outlet parameter of mileage value, it is determined that the current waypoint is outlet；It is on the contrary, it is determined that the current waypoint is Match outlet；

The crossing matching status of a current waypoint is when having matched outlet: if the mileage value of the current waypoint and previous waypoint Mileage value it is equal, it is determined that the current waypoint be outlet candidate point；If the mileage value of the current waypoint and it is preceding all the way The mileage value of point is unequal, then the step of when jumping to the crossing matching status of a current waypoint as outside crossing.

3. high-precision geography signal reconstruct method according to claim 1, which is characterized in that described according to the current road The property parameters of the current waypoint are arranged for the waypoint attribute of point and crossing matching status includes:

If the current waypoint is terminal, the waypoint attribute of the current waypoint is set as terminal, crossing point attribute is set as nothing Attribute, crossing matching status are set as outside crossing；

If the current waypoint is the waypoint attribute of the current waypoint to be set as into crossing, crossing point attribute is set into crossing For the crossing attribute of the crossing property parameters found, crossing matching status is set as having fitted into crossing；

If the current waypoint is special intersection, the waypoint attribute of the current waypoint is set as into crossing, crossing point attribute It is set as crossing straight trip, crossing matching status is set as having matched special stopping crossing；

If the current waypoint is road point, the waypoint attribute of the current waypoint is set as road point, crossing point attribute is set For no attribute, crossing matching status is set as outside crossing；

If the current waypoint is outlet, the waypoint attribute of the current waypoint is set as outlet, crossing point attribute is set For no attribute, crossing matching status is set as having matched outlet；

If the current waypoint is point in crossing, the waypoint attribute of the current waypoint is set as point in crossing, crossing point category Property is set as no attribute, and crossing matching status is set as having fitted into crossing；

If the current waypoint is pairing outlet, the waypoint attribute of the current waypoint is set as outlet, crossing point category Property is set as no attribute, and crossing matching status is set as having matched outlet；

If the current waypoint is outlet candidate point, the longitude and latitude parameter of the current waypoint is stored in previous outlet The candidate point longitude and latitude array of mouth, and the candidate point points plus 1 of the previous outlet；Judge the previous outlet The number of track-lines whether candidate point points are greater than or equal to the previous outlet subtracts 1, if so, by the road of the current waypoint Mouth matching status is set as outside crossing, if it is not, then being set as the crossing matching status of the current waypoint to have matched outlet.

4. high-precision geography signal reconstruct method according to any one of claim 1 to 3, which is characterized in that described pre- If adeditive attribute parameter further includes Custom Attributes parameter；

The current waypoint and previous waypoint are subjected to attributes match further include:

Whether equal with the mileage value of the current waypoint detect the corresponding mileage value of each Custom Attributes parameter；

If detecting, the corresponding mileage value of the Custom Attributes parameter is equal with the mileage value of the current waypoint, will be described The Custom Attributes of current waypoint is set as the Custom Attributes of the Custom Attributes parameter detected.

5. high-precision geography signal reconstruct method according to claim 4, which is characterized in that Custom Attributes parameter includes At least one of road speed limit parameter and lane width parameter；

It, will if described detect that the corresponding mileage value of the Custom Attributes parameter is equal with the mileage value of the current waypoint The Custom Attributes that the Custom Attributes of the current waypoint is set as the Custom Attributes parameter detected includes:

If the mileage value for detecting the road speed limit parameter is equal with the mileage value of the current waypoint, by the current road The speed limiting attribute of point is set as the speed limit value of the road speed limit parameter detected；

If the mileage value for detecting the lane width parameter is equal with the mileage value of the current waypoint, by the current road The lane width attribute of point is set as the width value of the lane width parameter detected.

6. a kind of high-precision geography signal reconstruct device characterized by comprising

Path data receiving module, the path data of the planning path for receiving Present navigation mission planning, the planning road Diameter is made of continuous each waypoint, and the path data includes the property parameters of each waypoint in the planning path；

Cache module is parsed, for parsing the path data, obtaining and caching each waypoint described in the path data Property parameters and mileage value corresponding with each property parameters, the property parameters include crossing property parameters, number of lanes Parameter, default at least one of adeditive attribute parameter and the longitude and latitude parameter of waypoint；The mileage value is each waypoint distance The mileage of the starting point of the Present navigation task, the default adeditive attribute parameter include into crossing parameter, independent characteristic parameter At least one of with outlet parameter；

Attribute matching module, for successively taking out a waypoint from caching as current waypoint since the starting point, and will The current waypoint and previous waypoint carry out attributes match, until all waypoints complete attributes match in the caching, it is described Previous waypoint is the waypoint of previous taking-up；

The attribute matching module includes:

Waypoint attribute determining unit, in mileage value in the property parameters according to each waypoint and the current waypoint Journey is worth the crossing of the equal default adeditive attribute parameter and/or the crossing property parameters and the previous waypoint Determine the waypoint attribute of the current waypoint with state, the waypoint attribute include terminal, enter crossing, special intersection, road point, One in outlet, crossing in point, pairing outlet or outlet candidate point, the crossing matching status includes being in crossing Outside, crossing has been fitted into, special stopping crossing having been matched and has matched one in outlet；

The property parameters of the current waypoint are arranged for the waypoint attribute according to the current waypoint for property parameters setting unit With crossing matching status；

Number of lanes setting unit, the lane for current waypoint described in the number of lanes parameter setting according to the current waypoint The value of number.

7. high-precision geography signal reconstruct device according to claim 6, which is characterized in that the waypoint attribute determines single Member includes:

First determines subelement, when the crossing matching status for a current waypoint is outside crossing: if the current waypoint Mileage value meet default mileage condition, it is determined that the current waypoint is terminal；Mileage value and described current is corresponded to if it exists The mileage value of waypoint it is equal enter crossing parameter, and the default mileage deviation range that enters crossing parameter equal in the mileage value Inside find crossing property parameters, it is determined that the current waypoint is into crossing；Mileage value and the current road are corresponded to if it exists The equal independent characteristic parameter of the mileage value of point, it is determined that the current waypoint is special intersection；It is on the contrary, it is determined that described current Waypoint is road point；

Second determines subelement, and the crossing matching status for a current waypoint is when having fitted into crossing: if the current road The mileage value of point meets default mileage condition, it is determined that the current waypoint is terminal；Mileage value is corresponded to if it exists to work as with described The equal outlet parameter of the mileage value of preceding waypoint, it is determined that the current waypoint is outlet；It is on the contrary, it is determined that described current Waypoint is point in crossing；

Third determines subelement, and the crossing matching status for a current waypoint is when having matched special stopping crossing: if described The mileage value of current waypoint meets default mileage condition, it is determined that the current waypoint is terminal；Correspond to if it exists mileage value with The mileage value of the current waypoint it is equal enter crossing parameter, it is determined that the current waypoint be crossing in point；It corresponds to if it exists The mileage value outlet parameter equal with the mileage value of the current waypoint, it is determined that the current waypoint is outlet；Conversely, Then determine the current waypoint for pairing outlet；

4th determines subelement, and the crossing matching status for a current waypoint is when having matched outlet: if the current road The mileage value of point is equal with the mileage value of previous waypoint, it is determined that the current waypoint is outlet candidate point；If described current The mileage value of waypoint and the mileage value of previous waypoint are unequal, then jump to the crossing matching status of a current waypoint as place The step of when outside crossing.

8. high-precision geography signal reconstruct device according to claim 6, which is characterized in that the property parameters setting is single Member includes:

The waypoint attribute of the current waypoint is set as eventually by the first setting subelement if being terminal for the current waypoint Point, crossing point attribute are set as no attribute, and crossing matching status is set as outside crossing；

Second setting subelement, if being to be set as the waypoint attribute of the current waypoint into crossing for the current waypoint Enter crossing, crossing point attribute is set as the crossing attribute of the crossing property parameters found, and crossing matching status is set as It is incorporated crossing；

Subelement is arranged in third, if being special intersection for the current waypoint, the waypoint attribute of the current waypoint is set To enter crossing, crossing point attribute is set as crossing straight trip, and crossing matching status is set as having matched special stopping crossing；

The waypoint attribute of the current waypoint is set as by the 4th setting subelement if being road point for the current waypoint Road point, crossing point attribute are set as no attribute, and crossing matching status is set as outside crossing；

The waypoint attribute of the current waypoint is set as by the 5th setting subelement if being outlet for the current waypoint Outlet, crossing point attribute are set as no attribute, and crossing matching status is set as having matched outlet；

6th setting subelement sets the waypoint attribute of the current waypoint if being point in crossing for the current waypoint For point in crossing, crossing point attribute is set as no attribute, and crossing matching status is set as having fitted into crossing；

7th setting subelement, if being pairing outlet for the current waypoint, by the waypoint attribute of the current waypoint It is set as outlet, crossing point attribute is set as no attribute, and crossing matching status is set as having matched outlet；

8th setting subelement, if being outlet candidate point for the current waypoint, by the longitude and latitude of the current waypoint Parameter is stored in the candidate point longitude and latitude array of previous outlet, and the candidate point points plus 1 of the previous outlet；Sentence Break the previous outlet candidate point points whether be greater than or equal to the previous outlet number of track-lines subtract 1, if so, Then the crossing matching status of the current waypoint is set as outside crossing, if it is not, then matching the crossing of the current waypoint State is set as having matched outlet.

9. the high-precision geography signal reconstruct device according to any one of claim 6 to 8, which is characterized in that described pre- If adeditive attribute parameter further includes Custom Attributes parameter；

The high-precision geography signal reconstruct device further include:

Parameter detection module, for detect the corresponding mileage value of each Custom Attributes parameter whether with the current waypoint Mileage value it is equal；

Custom Attributes setup module, if for detecting the corresponding mileage value of the Custom Attributes parameter and the current road Point mileage value it is equal, then by the Custom Attributes of the current waypoint be set as the Custom Attributes parameter detected oneself Defined attribute.

10. a kind of Vehicle Decision Method system, which is characterized in that believe including high-precision geography described in any one of claim 6 to 9 Breath reconstruct device.

11. a kind of server, including memory, processor and storage can transport in the memory and on the processor Capable computer program, which is characterized in that the processor is realized when executing the computer program as in claim 1 to 5 The step of any one high-precision geography signal reconstruct method.

12. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In realization high-precision geography information weight as described in any one of claims 1 to 5 when the computer program is executed by processor The step of structure method.